TIM510 Scandata missaligned and distorted

uos / sick_tim

A ROS driver for the SICK TiM series of laser scanners.

http://wiki.ros.org/sick_tim

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TIM510 Scandata missaligned and distorted #98

Open maxkremmel opened 1 year ago

maxkremmel commented 1 year ago

Hello, I think by looking at the following two images, my problem becomes obvious. In SOPAS ET the scan looks correct: Unbenannt But in rviz the scan is rotated about 45 degrees counterclockwise, and it is also distorted. All contours should be perpendicular to each other: grafik

Are there some parameters I missed so far to tune the sensor?

Steps to reproduce second image:

Power Sensor witch 12V
Connect Sensor via USB witch PC
execute command "roslaunch sick_tim sick_tim310s01.launch"
open rviz and add LaserScan and TF

maxkremmel commented 1 year ago

I found a workaround...

I edited the sick_tim310s01_parser.cpp file to set the following values of the sensor_msgs/LaserScan message published over the topic /scan, manually: angle_min: -2.356194496154785 angle_max: 2.356194496154785 angle_increment: 0.01745329238474369

Seams like something goes wrong when calculating angle_min, anlge_max and angle_increment.

But I still think I did something wrong because according to #97, the sick_tim310s01 should work without modifications.

mintar commented 1 year ago

I'm glad you found a workaround! Indeed, it looks like the 3 values you changed manually were not correctly parsed from the datagram (especially angle_increment). I don't have time to debug this any further, but if you want to submit a pull request, I'll be happy to review an merge it.

Also there's an extended fork of this repo here: sick_scan. Maybe you have more luck with that repo.